/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "step.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
const char help[] =
		"\r\nRepository: https://gitee.com/soliber/step-slide-control\r\n"
				"Developer: Soliber\r\n"
				"E-mail: soliber@aliyun.com\r\n"
				"Version: V1.0\r\n"
				"Date: 2021.04.21\r\n\r\n"
				"Supported instructions:\r\n\r\n"
				"Input [help]: help information\r\n"
				"Input [reset]: set current position as origin\r\n"
				"Input [read]: read speed(um/s) and position(um) information\r\n"
				"Input [sx]: set expected speed (um/s) and show real speed (um/s)\r\n"
				"Input [dx]: incremental move (um) and show real position (um)\r\n"
				"Input [px]: absolute movement (um) and show real position (um)\r\n\r\n"
				"tips: the above 'x' should be any interger or floating point number in a suitable range\r\n";

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int __io_putchar(int ch) {
	if (HAL_OK == HAL_UART_Transmit(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY))
		return ch;
	else
		return -1;
}
int __io_getchar(void) {
	char ch;

	if (HAL_OK == HAL_UART_Receive(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY))
		return (int) ch;
	else
		return EOF;
}
/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void) {
	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_USB_DEVICE_Init();
	MX_TIM1_Init();
	MX_USART1_UART_Init();
	/* USER CODE BEGIN 2 */
	setvbuf(stdout, NULL, _IONBF, 100);
	setvbuf(stdin, NULL, _IONBF, 100);
	printf("System Initialization Completed.\r\n");
	Motor_Set_Speed(10000);
//  Motor_Init();
	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1) {
		char buf[100] = { };
		double val = 0;

		//waiting for user input
		printf("\r\n");
		scanf("%s", buf);
		val = atof(buf + 1);

		//help
		if (strncmp(buf, "help", strlen("help")) == 0) {
			printf(help);
			continue;
		}
		//reset
		else if (strncmp(buf, "reset", strlen("reset")) == 0) {
//		  Motor_Init();
			Motor_Set_Origin();
			printf("Origin set\r\n");
			continue;
		}
		//read parameter
		else if (strncmp(buf, "read", strlen("read")) == 0) {
			printf("Speed:%d um/s\r\n"
					"Position:%.3f mm (%d steps to origin)\r\n",
					Motor_Get_Speed(), (double) Motor_Get_Pos_um() / 1000,
					Motor_Get_Pos_step());
		}
		//number check
		else if (val == 0.0) {
			printf(
					"Input ERROR!(%s)\r\nPlease input according to the format!\r\n",
					buf);
		}
		//distance mode
		else if (buf[0] == 'd') {
			val = Motor_Move_um((int) val * 1000);
			printf("Position: %2.3f mm (%+2.3f mm)\r\n",
					(double) Motor_Get_Pos_um() / 1000.0, (double) val / 1000);
		}
		//position mode
		else if (buf[0] == 'p') {
			int temp = Motor_Get_Pos_um();
			val = Motor_Pos_um((int) val * 1000) - temp;
			printf("Position: %2.3f mm (%+2.3f mm)\r\n",
					(double) Motor_Get_Pos_um() / 1000.0, (double) val / 1000);
		}
		//speed change
		else if (buf[0] == 's') {
			val = Motor_Set_Speed(val);
			printf("Speed set to %.0f um/s\r\n", val);
		}
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void) {
	RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
	RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
	RCC_PeriphCLKInitTypeDef PeriphClkInit = { 0 };

	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_ON;
	RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
		Error_Handler();
	}
	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
			| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV16;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
		Error_Handler();
	}
	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
	PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
		Error_Handler();
	}
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void) {
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	printf("error! please restart device!\r\n");
	while (1) {

	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
